1、Designation: F3244 17Standard Test Method forNavigation: Defined Area1This standard is issued under the fixed designation F3244; the number immediately following the designation indicates the year oforiginal adoption or, in the case of revision, the year of last revision. A number in parentheses ind
2、icates the year of last reapproval. Asuperscript epsilon () indicates an editorial change since the last revision or reapproval.1. Scope1.1 Purpose:1.1.1 The purpose of this test method is to evaluate anA-unmanned ground vehicles (A-UGV) capability of travers-ing through a defined space with limited
3、 A-UGV clearance.This test method is intended for use by A-UGV manufacturers,installers, and users. This test method defines a set of generic2D area shapes representative of user applications and fordifferent A-UGV types.1.1.2 A-UGVs shall possess a certain set of navigationcapabilities appropriate
4、to A-UGV operations such as A-UGVmovement between structures that define the vehicle path. Anavigation system is the monitoring and controlling functionsof the A-UGV, providing frequent A-UGV updates of vehiclemovement from one place to another. A-UGV environmentsoften include various constraints to
5、 A-UGV mobility. In thistest method, apparatuses, procedures, tasks, and metrics arespecified that apply constraints and thereby, standard testmethods for determining an A-UGVs navigation capabilitiesare defined.1.1.3 This test method is scalable to provide a range ofdimensions to constrain the A-UG
6、V mobility during taskperformance.1.1.4 A-UGVs shall be able to handle many types of openand defined area complexities with appropriate precision andaccuracy to perform a particular task.1.1.5 The required mobility capabilities include prepro-grammed or autonomous movement or both from a start point
7、to an end point. Further mobility requirements may include:sustained speeds, vehicle reconfiguration to pass throughdefined spaces, payload,A-UGV movement within constrainedvolumes, or other vehicle capabilities, or combinations thereof.This test method is designed such that a candidate A-UGV canbe
8、evaluated as to whether or not it meets a set of userapplication requirements.1.1.6 Performing LocationThis test method shall be per-formed in a location where the apparatus and environmentaltest conditions can be fully implemented. Environmental con-ditions are specified and recorded.1.1.7 Addition
9、al test methods within Committee F45 areanticipated to be developed to address additional or advancedmobility capability requirements.1.2 UnitsThe values stated in SI units are to be regardedas the standard. The values given in parentheses are not precisemathematical conversions to inch-pound units.
10、 They are closeapproximate equivalents for the purpose of specifying materialdimensions or quantities that are readily available to avoidexcessive fabrication costs of test apparatuses while maintain-ing repeatability and reproducibility of the test method results.These values given in parentheses a
11、re provided for informationonly and are not considered standard.1.3 This standard does not purport to address all of thesafety concerns, if any, associated with its use. Safety standardssuch as ANSI/ITSDF B56.5, BS EN 1525, or other safetystandards should be followed. It is the responsibility of the
12、 userof this standard to establish appropriate safety, health, andenvironmental practices and determine the applicability ofregulatory limitations prior to use.1.4 This international standard was developed in accor-dance with internationally recognized principles on standard-ization established in t
13、he Decision on Principles for theDevelopment of International Standards, Guides and Recom-mendations issued by the World Trade Organization TechnicalBarriers to Trade (TBT) Committee.2. Referenced Documents2.1 ASTM Standards:2F3200 Terminology for Driverless Automatic Guided Indus-trial VehiclesF321
14、8 Practice for Recording Environmental Effects forUtilization with A-UGV Test Methods2.2 ANSI/ITSDF Standard:3ANSI/ITSDF B56.5 Safety Standard for Driverless, Auto-matic Guided Industrial Vehicles and Automated Func-tions of Manned Industrial Vehicles1This test method is under the jurisdiction of AS
15、TM Committee F45 onDriverless Automatic Guided Industrial Vehicles and is the direct responsibility ofSubcommittee F45.02 on Docking and Navigation.Current edition approved July 1, 2017. Published October 2017. DOI: 10.1520/F3244-17.2For referenced ASTM standards, visit the ASTM website, www.astm.or
16、g, orcontact ASTM Customer Service at serviceastm.org. For Annual Book of ASTMStandards volume information, refer to the standards Document Summary page onthe ASTM website.3Available from Industrial Truck Standards Development Foundation (ITSDF),1750 K St. NW, Suite 460, Washington, DC 20006.Copyrig
17、ht ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United StatesThis international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for theDevelopment of Internationa
18、l Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.12.3 BS Standard:4BS EN 1525 Safety of Industrial Trucks. Driverless Trucksand Their Systems3. Terminology3.1 DefinitionsIn Terminology F3200, additional defini-tions relevant t
19、o this test method are given.3.2 Definitions of Terms Specific to This Standard:3.2.1 end goal, nlocation at which a task will be com-pleted and is defined by a line perpendicular to vehiclemovement.3.2.2 goal(s), nlocation(s) the vehicle will pass through asa task is progressed.3.2.3 start, nlocati
20、on at which the A-UGV will begin thetest and is defined by a line perpendicular to vehicle move-ment.3.2.4 task, nsee Terminology F3200 definition.3.2.4.1 DiscussionFor this test method, one task is definedas when the A-UGV moves from the specified start location(Point A) to the goal location (Point
21、 B or C), as shown in Figs.1-7, traversing in a specified direction (forward or reverse).Where possible theA-UGV should return to the start line usingautonomous control without operator intervention.4. Summary of Test Method4.1 Area DefinitionThis test method consists of traversingmultiple repetitio
22、ns of a single task within a specified naviga-tion area defined by physical barriers, virtual barriers, or floormarkings, or combinations thereof. Further details are given inSection 6. Figs. 1-7 show possible defined area navigationconstraints and references to locations within the apparatus (A,B,
23、and C) and start and goal lines. Using these shapes, the testmethod can be used to determine an A-UGVs capability attraversing through an area of specified dimensions. The testmethod could also be used to determine the minimum space inwhich the A-UGV is able to traverse.4.2 Navigation Test Method:4.
24、2.1 The A-UGV shall drive through the apparatus (ex-amples are shown in Fig. 9 and Fig. 10). The completion of oneof the repetitions is when the A-UGV traverses from thespecified start location (A) across an end goal line (B or C).The A-UGV shall not make contact with any barrier (unlesswith only a
25、contact-sensing device that is used to navigate) nordeviate from the defined area during a task. If the A-UGVmakes contact with any barrier or crosses a virtual barrierduring a repetition, the result is a test failure. The test requestorhas the authority to select defined path width(s) (x or y, or b
26、oth,in Figs. 1-7) for the test event. The defined path width may bealtered by the test requestor prior to a test with the aim ofidentifying the minimum space that can be traversed by theA-UGV, if desired.4.2.2 A task is successfully completed when the entireA-UGV crosses the specified start line at
27、the start location (A),traverses within the defined area, and crosses the specified goalline at the end goal (B or C) without crossing or impacting thephysical barriers, virtual barriers, or floor markers.4.2.3 The A-UGVs navigation capability is defined by itsability to repeatedly travel through a
28、defined area from start toend goal. The test does not require a specific route to befollowed by the A-UGV. The route definition is not part of thestandard test, nor the line that may be followed, to a certainrepeatability. The test is set out to identify the area required forA-UGV movement.4.2.4 The
29、 test supervisor will inform the test requestor of thenumber of task repetitions to be made, corresponding to thestatistical reliability and confidence levels shown in Table 1.4Available from British Standards Institution (BSI), 389 Chiswick High Rd.,London W4 4AL, U.K., http:/.NOTE 1The thick black
30、 lines indicate the physical barriers or lines along which virtual barriers or floor markings are set.FIG. 1 Diagram of Test Method for Navigation through a Straight AisleF3244 1724.2.5 The test supervisor is responsible for setting up theapparatus and instrumentation, directing the test, and report
31、ingresults of the test to the test requestor.4.2.6 The test supervisor will be responsible for directingthe test technician and the A-UGV operator.4.3 MetricsDerived from Figs. 1-7. All measurementsshown in the figures related to a 2D space with a flat, horizontalfloor. Measurements between boundari
32、es are perpendicular tothe boundary being measured.4.3.1 Straight Aisle Width (Fig. 1)The value, x,isthedistance between boundaries representing the area needed bythe A-UGV to traverse through a straight aisle.4.3.2 Intersecting Aisles Widths (Single and Dual, Figs.2-7)The same discussion of aisle w
33、idth described in 4.3.1applies here. However, there are two measured widths to bedetermined: the initial aisle width, x, and the final aisle width,y. The combination of these metrics describes the dimensionsof traversable 2D space by an A-UGV through an intersectionof degrees. The default value of i
34、s 90 for a perpendicularintersection, but angles other than 90 may be selected by thetest requestor.4.3.3 Chamfered CornersThese enable the test requestorto further specify the shape of the corners of an area. Chamfersare defined by setback distances for the interior chamfer (d1and d2) see Fig. 4 an
35、d the exterior chamfer (d3and d4), see Fig.5. The setback distance is that distance between the virtualcorner and the start of the chamfer identifying the interiorspace. The interior chamfer enables the width of the aisleintersection to be increased from that identified in the singleintersection (se
36、e Fig. 4) or dual intersection (see Fig. 7). Theexterior chamfer enables the width of the aisle intersection tobe decreased from that identified in the single intersection (seeFig. 5). Both interior and exterior chamfers can be used in thesingle intersection (see Fig. 3).4.3.4 Completion TimeThe sta
37、rt time of a task is consid-ered the moment the entire body of theA-UGV crosses the startNOTE 1The thick black lines indicate the physical barriers or lines along which virtual barriers or floor markings are set.FIG. 2 Diagrams of Test Method for Navigation through a Single Intersection with No Cham
38、fers, Showing Both Possible A-UGV TurnDirectionsNOTE 1The thick black lines indicate the physical barriers or lines along which virtual barriers or floor markings are set.FIG. 3 Diagrams of Test Method for Navigation through a Single Intersection, Showing Interior Chamfer Defined by d1and d2and Exte
39、-rior Chamfer Defined by d3and d4, Showing Both Possible A-UGV Turn DirectionsF3244 173line, exiting the start location (A). The end time of a task isconsidered the moment the entire body of the A-UGV crossesthe goal line entering the end goal location (B or C) (see Figs.1-7). Task completion time i
40、s recorded to an accuracy of1sforeach repetition, and test completion time is recorded as anaverage of all completed task repetitions.4.3.5 Path LengthThe path length is defined for its use inthe calculation of the Average Traversal Speed. It is themeasurement of a path down the center of the define
41、d area.Curved traversal distances are not measured.4.3.5.1 For the Straight Aisle, Path Length is zy(see Fig. 1).4.3.5.2 For the Intersecting Aisles where is 90, PathLength is (zy y/2)+(zx x/2) (see Figs. 2-7). For intersectingaisles where is not 90, a similar calculation using the definedareas cent
42、er line should be made.4.3.6 Traversal SpeedThe speed, measured in meters persecond, determined by dividing the Path Length by thecompletion time for a single repetition. Average TraversalSpeed is calculated by dividing the Path Length by theAverageTime, where average time is the Total Duration for
43、nrepetitions, divided by n.4.3.7 A-UGV Aisle Heading/DirectionIn straight aisles,the A-UGV may be commanded to use a particular headingmoving forward or in reverse. The heading and direction that isused by the A-UGV will be recorded for each test.4.3.8 A-UGV Turn DirectionIn turning between intersec
44、t-ing aisles (see Figs. 2-7), the A-UGV can be commanded totraverse between the start line (A) and either of the twopossible goal lines (B or C), each of which result in a differentroute. The test requestor can test both routes with both vehicleorientations to determine the symmetry of A-UGV operati
45、on,which would encompass two separate tests.4.3.9 Test FlexibilityUnder some circumstances, a testrequestor may request a test be carried out using the intersec-tion shape described in 4.3.2 but with different intersectionangle at a value other than 90. Such a test is allowed whenrequested by the te
46、st requestor prior to beginning a test,NOTE 1The thick black lines indicate the physical barriers or lines along which virtual barriers or floor markings are set.FIG. 4 Diagrams of Test Method for Navigation through a Single Intersection with Interior Chamfer Only, Defined by d1and d2, ShowingBoth P
47、ossible A-UGV Turn DirectionsNOTE 1The thick black lines indicate the physical barriers or lines along which virtual barriers or floor markings are set.FIG. 5 Diagram of Test Method for Navigation through a Single Intersection with Exterior Chamfer Only, Defined by d3and d4, ShowingBoth Possible A-U
48、GV Turn DirectionsF3244 174although with the provision that the area definition and testcompletion follow the methods set out in 4.3.4.3.10 Multiple AreasThe tests described in this testmethod anticipate only a single area route will be chosen forthe test. Future standard test methods may be develop
49、ed thatcombine multiple areas or apparatuses to define more complexareas and routes.5. Significance and Use5.1 A-UGVs operate in a wide range of applications such asmanufacturing facilities and warehouses. Fig. 8 shows threeexample A-UGV types and test apparatus sizes to test A-UGVsintended for different vehicle tasks, types, sizes, and capabili-ties. Such sites can have both defined and undefined areas thatare structured and unstructured. The testing results of thecandidate A-UGV shall describe, in a statistically sign
